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joint_state_topic_hardware_interface package from topic_based_hardware_interfaces repojoint_state_topic_hardware_interface |
Package Summary
| Tags | No category tags. |
| Version | 0.1.0 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | |
| Checkout URI | https://github.com/ros-controls/topic_based_hardware_interfaces.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2025-06-25 |
| Dev Status | DEVELOPED |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
ros2_control hardware interface for JointState topic based control
Additional Links
Maintainers
- Marq Rasmussen
- Jafar Uruc
- Bence Magyar
Authors
- Jafar Uruc
- Marq Rasmussen
Joint State Topic Based System
The Joint State Topic Based System implements a ros2_control hardware_interface::SystemInterface supporting command and state interfaces through the ROS topic communication layer.
ros2_control urdf tag
The joint_state_topic_hardware_interface has a few ros2_control urdf tags to customize its behavior.
Parameters
- joint_commands_topic: (default: “/robot_joint_command”). Example:
<param name="joint_commands_topic">/my_topic_joint_commands</param>. - joint_states_topic: (default: “/robot_joint_states”). Example:
<param name="joint_states_topic">/my_topic_joint_states</param>. - trigger_joint_command_threshold: (default: 1e-5). Used to avoid spamming the joint command topic when the difference between the current joint state and the joint command is smaller than this value, set to -1 to always send the joint command. Example:
<param name="trigger_joint_command_threshold">0.001</param>. - sum_wrapped_joint_states: (default: “false”). Used to track the total rotation for joint states the values reported on the
joint_commands_topicwrap from 2pi to -2pi when rotating in the positive direction. (Isaac Sim only reports joint states from 2pi to -2pi) Example:<param name="sum_wrapped_joint_states">true</param>.
Per-joint Parameters
- mimic: Defined name of the joint to mimic. This is often used concept with parallel grippers. Example:
<param name="mimic">joint1</param>. - multiplier: Multiplier of values for mimicking joint defined in mimic parameter. Example:
<param name="multiplier">-2</param>.
Modifying the urdf ros2_control tag for new robots
If your robot description support mock_components you simply add an if-else statement to switch between it and <plugin>joint_state_topic_hardware_interface/JointStateTopicSystem</plugin>, make sure to add the joint_commands_topic and joint_states_topic to point to the correct topics.
<ros2_control name="name" type="system">
<hardware>
<xacro:if value="${mock_hardware}">
<plugin>mock_components/GenericSystem</plugin>
<param name="fake_sensor_commands">false</param>
<param name="state_following_offset">0.0</param>
<param name="calculate_dynamics">true</param>
</xacro:if>
<xacro:unless value="${mock_hardware}">
<plugin>joint_state_topic_hardware_interface/JointStateTopicSystem</plugin>
<param name="joint_commands_topic">/topic_based_joint_commands</param>
<param name="joint_states_topic">/topic_based_joint_states</param>
<param name="sum_wrapped_joint_states">true</param>
</xacro:if>
</hardware>
<joint name="joint_1">
<command_interface name="position"/>
<state_interface name="position">
<param name="initial_value">0.0</param>
</state_interface>
<state_interface name="velocity"/>
</joint>
...
<joint name="joint_n">
<command_interface name="position"/>
<state_interface name="position">
<param name="initial_value">0.0</param>
</state_interface>
<state_interface name="velocity"/>
</joint>
...
<joint name="mimic_joint_1">
<param name="mimic">joint_k</param>
<param name="multiplier">1</param>
<command_interface name="position" />
<state_interface name="position">
<param name="initial_value">0.0</param>
</state_interface>
<state_interface name="velocity"/>
</joint>
...
<joint name="mimic_joint_n">
<param name="mimic">joint_kn</param>
<param name="multiplier">1</param>
<command_interface name="position" />
<state_interface name="position">
<param name="initial_value">0.0</param>
</state_interface>
<state_interface name="velocity"/>
</joint>
</ros2_control>
CHANGELOG
No CHANGELOG found.
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
System Dependencies
No direct system dependencies.
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged joint_state_topic_hardware_interface at Robotics Stack Exchange
|
|
joint_state_topic_hardware_interface package from topic_based_hardware_interfaces repojoint_state_topic_hardware_interface |
Package Summary
| Tags | No category tags. |
| Version | 0.1.0 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | |
| Checkout URI | https://github.com/ros-controls/topic_based_hardware_interfaces.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2025-06-25 |
| Dev Status | DEVELOPED |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
ros2_control hardware interface for JointState topic based control
Additional Links
Maintainers
- Marq Rasmussen
- Jafar Uruc
- Bence Magyar
Authors
- Jafar Uruc
- Marq Rasmussen
Joint State Topic Based System
The Joint State Topic Based System implements a ros2_control hardware_interface::SystemInterface supporting command and state interfaces through the ROS topic communication layer.
ros2_control urdf tag
The joint_state_topic_hardware_interface has a few ros2_control urdf tags to customize its behavior.
Parameters
- joint_commands_topic: (default: “/robot_joint_command”). Example:
<param name="joint_commands_topic">/my_topic_joint_commands</param>. - joint_states_topic: (default: “/robot_joint_states”). Example:
<param name="joint_states_topic">/my_topic_joint_states</param>. - trigger_joint_command_threshold: (default: 1e-5). Used to avoid spamming the joint command topic when the difference between the current joint state and the joint command is smaller than this value, set to -1 to always send the joint command. Example:
<param name="trigger_joint_command_threshold">0.001</param>. - sum_wrapped_joint_states: (default: “false”). Used to track the total rotation for joint states the values reported on the
joint_commands_topicwrap from 2pi to -2pi when rotating in the positive direction. (Isaac Sim only reports joint states from 2pi to -2pi) Example:<param name="sum_wrapped_joint_states">true</param>.
Per-joint Parameters
- mimic: Defined name of the joint to mimic. This is often used concept with parallel grippers. Example:
<param name="mimic">joint1</param>. - multiplier: Multiplier of values for mimicking joint defined in mimic parameter. Example:
<param name="multiplier">-2</param>.
Modifying the urdf ros2_control tag for new robots
If your robot description support mock_components you simply add an if-else statement to switch between it and <plugin>joint_state_topic_hardware_interface/JointStateTopicSystem</plugin>, make sure to add the joint_commands_topic and joint_states_topic to point to the correct topics.
<ros2_control name="name" type="system">
<hardware>
<xacro:if value="${mock_hardware}">
<plugin>mock_components/GenericSystem</plugin>
<param name="fake_sensor_commands">false</param>
<param name="state_following_offset">0.0</param>
<param name="calculate_dynamics">true</param>
</xacro:if>
<xacro:unless value="${mock_hardware}">
<plugin>joint_state_topic_hardware_interface/JointStateTopicSystem</plugin>
<param name="joint_commands_topic">/topic_based_joint_commands</param>
<param name="joint_states_topic">/topic_based_joint_states</param>
<param name="sum_wrapped_joint_states">true</param>
</xacro:if>
</hardware>
<joint name="joint_1">
<command_interface name="position"/>
<state_interface name="position">
<param name="initial_value">0.0</param>
</state_interface>
<state_interface name="velocity"/>
</joint>
...
<joint name="joint_n">
<command_interface name="position"/>
<state_interface name="position">
<param name="initial_value">0.0</param>
</state_interface>
<state_interface name="velocity"/>
</joint>
...
<joint name="mimic_joint_1">
<param name="mimic">joint_k</param>
<param name="multiplier">1</param>
<command_interface name="position" />
<state_interface name="position">
<param name="initial_value">0.0</param>
</state_interface>
<state_interface name="velocity"/>
</joint>
...
<joint name="mimic_joint_n">
<param name="mimic">joint_kn</param>
<param name="multiplier">1</param>
<command_interface name="position" />
<state_interface name="position">
<param name="initial_value">0.0</param>
</state_interface>
<state_interface name="velocity"/>
</joint>
</ros2_control>
CHANGELOG
No CHANGELOG found.
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
System Dependencies
No direct system dependencies.
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged joint_state_topic_hardware_interface at Robotics Stack Exchange
|
|
joint_state_topic_hardware_interface package from topic_based_hardware_interfaces repojoint_state_topic_hardware_interface |
Package Summary
| Tags | No category tags. |
| Version | 0.1.0 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | |
| Checkout URI | https://github.com/ros-controls/topic_based_hardware_interfaces.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2025-06-25 |
| Dev Status | DEVELOPED |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
ros2_control hardware interface for JointState topic based control
Additional Links
Maintainers
- Marq Rasmussen
- Jafar Uruc
- Bence Magyar
Authors
- Jafar Uruc
- Marq Rasmussen
Joint State Topic Based System
The Joint State Topic Based System implements a ros2_control hardware_interface::SystemInterface supporting command and state interfaces through the ROS topic communication layer.
ros2_control urdf tag
The joint_state_topic_hardware_interface has a few ros2_control urdf tags to customize its behavior.
Parameters
- joint_commands_topic: (default: “/robot_joint_command”). Example:
<param name="joint_commands_topic">/my_topic_joint_commands</param>. - joint_states_topic: (default: “/robot_joint_states”). Example:
<param name="joint_states_topic">/my_topic_joint_states</param>. - trigger_joint_command_threshold: (default: 1e-5). Used to avoid spamming the joint command topic when the difference between the current joint state and the joint command is smaller than this value, set to -1 to always send the joint command. Example:
<param name="trigger_joint_command_threshold">0.001</param>. - sum_wrapped_joint_states: (default: “false”). Used to track the total rotation for joint states the values reported on the
joint_commands_topicwrap from 2pi to -2pi when rotating in the positive direction. (Isaac Sim only reports joint states from 2pi to -2pi) Example:<param name="sum_wrapped_joint_states">true</param>.
Per-joint Parameters
- mimic: Defined name of the joint to mimic. This is often used concept with parallel grippers. Example:
<param name="mimic">joint1</param>. - multiplier: Multiplier of values for mimicking joint defined in mimic parameter. Example:
<param name="multiplier">-2</param>.
Modifying the urdf ros2_control tag for new robots
If your robot description support mock_components you simply add an if-else statement to switch between it and <plugin>joint_state_topic_hardware_interface/JointStateTopicSystem</plugin>, make sure to add the joint_commands_topic and joint_states_topic to point to the correct topics.
<ros2_control name="name" type="system">
<hardware>
<xacro:if value="${mock_hardware}">
<plugin>mock_components/GenericSystem</plugin>
<param name="fake_sensor_commands">false</param>
<param name="state_following_offset">0.0</param>
<param name="calculate_dynamics">true</param>
</xacro:if>
<xacro:unless value="${mock_hardware}">
<plugin>joint_state_topic_hardware_interface/JointStateTopicSystem</plugin>
<param name="joint_commands_topic">/topic_based_joint_commands</param>
<param name="joint_states_topic">/topic_based_joint_states</param>
<param name="sum_wrapped_joint_states">true</param>
</xacro:if>
</hardware>
<joint name="joint_1">
<command_interface name="position"/>
<state_interface name="position">
<param name="initial_value">0.0</param>
</state_interface>
<state_interface name="velocity"/>
</joint>
...
<joint name="joint_n">
<command_interface name="position"/>
<state_interface name="position">
<param name="initial_value">0.0</param>
</state_interface>
<state_interface name="velocity"/>
</joint>
...
<joint name="mimic_joint_1">
<param name="mimic">joint_k</param>
<param name="multiplier">1</param>
<command_interface name="position" />
<state_interface name="position">
<param name="initial_value">0.0</param>
</state_interface>
<state_interface name="velocity"/>
</joint>
...
<joint name="mimic_joint_n">
<param name="mimic">joint_kn</param>
<param name="multiplier">1</param>
<command_interface name="position" />
<state_interface name="position">
<param name="initial_value">0.0</param>
</state_interface>
<state_interface name="velocity"/>
</joint>
</ros2_control>
CHANGELOG
No CHANGELOG found.
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
System Dependencies
No direct system dependencies.
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged joint_state_topic_hardware_interface at Robotics Stack Exchange
No version for distro github. Known supported distros are highlighted in the buttons above.
No version for distro noetic. Known supported distros are highlighted in the buttons above.
No version for distro galactic. Known supported distros are highlighted in the buttons above.
No version for distro iron. Known supported distros are highlighted in the buttons above.
No version for distro melodic. Known supported distros are highlighted in the buttons above.